EP2060367A3 - Appareil de transfert - Google Patents

Appareil de transfert Download PDF

Info

Publication number
EP2060367A3
EP2060367A3 EP08166589A EP08166589A EP2060367A3 EP 2060367 A3 EP2060367 A3 EP 2060367A3 EP 08166589 A EP08166589 A EP 08166589A EP 08166589 A EP08166589 A EP 08166589A EP 2060367 A3 EP2060367 A3 EP 2060367A3
Authority
EP
European Patent Office
Prior art keywords
arm
pinion
pedestal
transferring apparatus
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08166589A
Other languages
German (de)
English (en)
Other versions
EP2060367A2 (fr
Inventor
Takao Ito
Shunichi Shiriya
Seiji Nakoshi
Toshihiro Ojima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aida Engineering Ltd
Original Assignee
Aida Engineering Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aida Engineering Ltd filed Critical Aida Engineering Ltd
Publication of EP2060367A2 publication Critical patent/EP2060367A2/fr
Publication of EP2060367A3 publication Critical patent/EP2060367A3/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H2037/128—Generating reciprocating motion by a planetary gear (ratio 2:1) using endless flexible members

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
EP08166589A 2007-11-16 2008-10-14 Appareil de transfert Withdrawn EP2060367A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007298713A JP2009119580A (ja) 2007-11-16 2007-11-16 搬送装置および大型搬送装置

Publications (2)

Publication Number Publication Date
EP2060367A2 EP2060367A2 (fr) 2009-05-20
EP2060367A3 true EP2060367A3 (fr) 2009-06-17

Family

ID=40385520

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08166589A Withdrawn EP2060367A3 (fr) 2007-11-16 2008-10-14 Appareil de transfert

Country Status (4)

Country Link
US (1) US20090129900A1 (fr)
EP (1) EP2060367A3 (fr)
JP (1) JP2009119580A (fr)
CA (1) CA2641137A1 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5297932B2 (ja) * 2009-08-03 2013-09-25 京セラドキュメントソリューションズ株式会社 ギヤ機構および画像形成装置
NO332877B1 (no) * 2010-12-02 2013-01-28 Norsk Hydro As Fremgangsmate og system for handtering av gjenstander
KR101271458B1 (ko) * 2011-06-14 2013-06-05 박순필 위상유지수단이 구비된 장치
CA2853947A1 (fr) * 2014-06-09 2015-12-09 Honey Bee Manufacturing Ltd. Mecanisme d'entrainement de couteau de tete d'abatteuse-ebrancheuse
US11278951B2 (en) * 2016-12-27 2022-03-22 Abb Schweiz Ag Pendular handling system for a press line
JP6878117B2 (ja) * 2017-04-25 2021-05-26 川崎重工業株式会社 シート搬送装置及びシート搬送方法
CN108002077B (zh) * 2017-10-16 2019-08-27 苏州盛友机械有限公司 一种压轮调整装置
JP6693978B2 (ja) * 2018-01-23 2020-05-13 ファナック株式会社 搬送用ツールおよびロボット
CN110370269B (zh) * 2018-09-12 2021-10-01 北京京东乾石科技有限公司 搬运机器人旋转控制方法和装置
CN109201923B (zh) * 2018-11-14 2023-12-26 泉州苗亿自动化机械有限公司 一种接料卸料方便的自动冲床
CN110561494A (zh) * 2019-09-29 2019-12-13 格力电器（武汉）有限公司 用于机械设备的动作臂
JP6757535B1 (ja) * 2020-01-31 2020-09-23 大豊精機株式会社 搬送装置
CN113290722B (zh) * 2021-06-22 2023-08-18 浙江森尼克半导体有限公司 适用于半导体材料的拉丝式切割机
IT202200011408A1 (it) 2022-05-30 2023-11-30 Italgantry S R L Unita' di supporto e movimentazione di un oggetto

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52121262A (en) * 1976-04-01 1977-10-12 Tsubakimoto Chain Co Robot arm actuating system
EP0169419A1 (fr) * 1984-07-27 1986-01-29 Unimation Inc. Poignet de robot pneumatique
US5106258A (en) * 1989-11-30 1992-04-21 Kabushikikaisha Orii Workpiece transfer apparatus effecting vertical and horizontal motion
JPH06143183A (ja) * 1992-11-06 1994-05-24 Kanto Seiki Kk ハンドリングロボットとその制御方法
US5872892A (en) * 1997-02-03 1999-02-16 Motoman, Inc. Process and apparatus for imparting linear motion to tooling attached to the end of a manipulator device having two different length arms
JP2000343464A (ja) * 1999-05-31 2000-12-12 Denso Corp ロボット装置
US20010020199A1 (en) * 1995-07-10 2001-09-06 Paul Bacchi Self-teaching robot arm position method to compensate for support structure component alignment offset
US6297611B1 (en) * 2000-07-06 2001-10-02 Genmark Automation Robot having independent end effector linkage motion
JP2002066976A (ja) * 2000-08-28 2002-03-05 Assist Japan Kk 基板搬送用真空ロボット
US6400115B1 (en) * 1999-09-28 2002-06-04 Tazmo Co., Ltd. Horizontal multi-joint industrial robot and a control method thereof
US6471504B1 (en) * 1999-02-10 2002-10-29 Nissei Plastic Industrial Co., Ltd. Robot for production machine
US6489741B1 (en) * 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
JP2005161406A (ja) * 2002-12-26 2005-06-23 Komatsu Ltd タンデムプレスラインにおけるワーク搬送装置
JP2005238381A (ja) * 2004-02-26 2005-09-08 Rokkuhiru:Kk 伸縮アーム
JP2006159406A (ja) * 2006-01-10 2006-06-22 Meidensha Corp 水平アームを有するロボット
US20080041183A1 (en) * 2006-06-28 2008-02-21 Genmark Automation, Inc. Belt-driven robot having extended Z-axis motion
DE202007002364U1 (de) * 2007-02-14 2008-06-19 Kuka Systems Gmbh Positioniereinrichtung

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3960176A (en) * 1973-06-06 1976-06-01 Nigata Engineering Co., Ltd. Fluid loading device
US4897015A (en) * 1987-05-15 1990-01-30 Ade Corporation Rotary to linear motion robot arm
DE4408449A1 (de) * 1994-03-12 1995-09-14 Mueller Weingarten Maschf Transportsystem
DE4408450A1 (de) * 1994-03-12 1995-09-14 Mueller Weingarten Maschf Transporteinrichtung für Werkstücke in einer Presse
DE19925343A1 (de) * 1999-06-02 2000-12-07 Schuler Pressen Gmbh & Co Transfereinrichtung
US6570356B2 (en) * 2000-04-07 2003-05-27 Kawasaki Jukogyo Kabushiki Kaisha Robot system
DE10042991A1 (de) * 2000-09-01 2002-03-21 Mueller Weingarten Maschf Gelenkarm-Transportsystem
DE10328447B4 (de) * 2003-06-25 2006-06-08 Schuler Pressen Gmbh & Co. Kg Transferpresse mit verbesserter Raumausnutzung
DE102004006085B4 (de) * 2004-02-07 2007-01-04 Müller Weingarten AG Transportvorrichtung für Werkstücke durch Pressenanlagen
DE102004018059B4 (de) * 2004-04-08 2008-01-24 Schuler Pressen Gmbh & Co. Kg Transfereinrichtung und Transferverfahren
US20080145195A1 (en) * 2004-10-26 2008-06-19 Gudel Group Ag Transfer System for Transporting Work Pieces in a Press

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52121262A (en) * 1976-04-01 1977-10-12 Tsubakimoto Chain Co Robot arm actuating system
EP0169419A1 (fr) * 1984-07-27 1986-01-29 Unimation Inc. Poignet de robot pneumatique
US5106258A (en) * 1989-11-30 1992-04-21 Kabushikikaisha Orii Workpiece transfer apparatus effecting vertical and horizontal motion
JPH06143183A (ja) * 1992-11-06 1994-05-24 Kanto Seiki Kk ハンドリングロボットとその制御方法
US20010020199A1 (en) * 1995-07-10 2001-09-06 Paul Bacchi Self-teaching robot arm position method to compensate for support structure component alignment offset
US5872892A (en) * 1997-02-03 1999-02-16 Motoman, Inc. Process and apparatus for imparting linear motion to tooling attached to the end of a manipulator device having two different length arms
US6489741B1 (en) * 1998-08-25 2002-12-03 Genmark Automation, Inc. Robot motion compensation system
US6471504B1 (en) * 1999-02-10 2002-10-29 Nissei Plastic Industrial Co., Ltd. Robot for production machine
JP2000343464A (ja) * 1999-05-31 2000-12-12 Denso Corp ロボット装置
US6400115B1 (en) * 1999-09-28 2002-06-04 Tazmo Co., Ltd. Horizontal multi-joint industrial robot and a control method thereof
US6297611B1 (en) * 2000-07-06 2001-10-02 Genmark Automation Robot having independent end effector linkage motion
JP2002066976A (ja) * 2000-08-28 2002-03-05 Assist Japan Kk 基板搬送用真空ロボット
JP2005161406A (ja) * 2002-12-26 2005-06-23 Komatsu Ltd タンデムプレスラインにおけるワーク搬送装置
JP2005238381A (ja) * 2004-02-26 2005-09-08 Rokkuhiru:Kk 伸縮アーム
JP2006159406A (ja) * 2006-01-10 2006-06-22 Meidensha Corp 水平アームを有するロボット
US20080041183A1 (en) * 2006-06-28 2008-02-21 Genmark Automation, Inc. Belt-driven robot having extended Z-axis motion
DE202007002364U1 (de) * 2007-02-14 2008-06-19 Kuka Systems Gmbh Positioniereinrichtung

Also Published As

Publication number Publication date
EP2060367A2 (fr) 2009-05-20
US20090129900A1 (en) 2009-05-21
CA2641137A1 (fr) 2009-05-16
JP2009119580A (ja) 2009-06-04

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